From 670663a7419f03e42ac943f517d785c4dde0e11e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 13 Oct 2021 18:15:42 +1100
Subject: [PATCH] AP_NavEKF3: allow hwdef to override IMU default

---
 libraries/AP_NavEKF3/AP_NavEKF3.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
index 3e09af83c8..19fdf12b82 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -121,6 +121,10 @@
 
 #endif // APM_BUILD_DIRECTORY
 
+#ifndef EK3_PRIMARY_DEFAULT
+#define EK3_PRIMARY_DEFAULT 0
+#endif
+
 // Define tuning parameters
 const AP_Param::GroupInfo NavEKF3::var_info[] = {
 
@@ -709,7 +713,7 @@ const AP_Param::GroupInfo NavEKF3::var_info2[] = {
     // @Range: 0 2
     // @Increment: 1
     // @User: Advanced
-    AP_GROUPINFO("PRIMARY", 8, NavEKF3, _primary_core, 0),
+    AP_GROUPINFO("PRIMARY", 8, NavEKF3, _primary_core, EK3_PRIMARY_DEFAULT),
     
     AP_GROUPEND
 };